Implements a simulated range and bearing pinger localisation system. More...

#include <acoustic_pinger_plugin.hh>

Inheritance diagram for gazebo::AcousticPinger:

Public Member Functions
	AcousticPinger ()
	Constructor. More...

void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)

void	PingerPositionCallback (const geometry_msgs::Vector3ConstPtr &_pos)
	Callback function called when receiving a new pinger position via the pinger subscription callback. More...

virtual	~AcousticPinger ()
	Destructor. More...

Public Attributes
std::mutex	mutex
	Mutex to protect the position vector. More...

ros::Subscriber	setPositionSub
	Subscribes to the topic that set the pinger position. More...

Protected Member Functions
virtual void	Update ()
	Callback used by gazebo to update the plugin. More...

Private Attributes
gazebo::sensors::NoisePtr	bearingNoise = nullptr
	Gazebo noise object for bearing angle. More...

gazebo::sensors::NoisePtr	elevationNoise = nullptr
	Gazebo noise object for elevation angle. More...

std::string	frameId
	String holding the frame id of the sensor. More...

common::Time	lastUpdateTime
	Variable used to track time of last update. This is used to produce data at the correct rate. More...

physics::ModelPtr	model
	Pointer to model object. More...

ignition::math::Vector3d	position
	Vector storing the position of the pinger. More...

ros::Publisher	rangeBearingPub
	Publisher used to send sensor messages generated by the plugin. More...

gazebo::sensors::NoisePtr	rangeNoise = nullptr
	rangeNoise - Gazebo noise object for range. More...

std::unique_ptr< ros::NodeHandle >	rosNodeHandle
	Nodehandle used to integrate with the ROS system. More...

event::ConnectionPtr	updateConnection
	Pointer used to connect gazebo callback to plugins update function. More...

float	updateRate
	Sensor update rate. More...

Detailed Description

Implements a simulated range and bearing pinger localisation system.

Implements a range and bearing pinger system. This assumes that the pinger localisation has a mechanism for estimating the range and bearing of the pinger. Pinger estimates are published using a custom message to the ROS system along with a standard header. This should allow the tf library to transform the sensor reading between frames.

Accepts the following SDF parameters: <robotNamespace> - Set the namespace of the robot. Used to setup the ROS nodehandle. <frameId> - Tf frame of the sensor message. Used as part of the sensor message publication. <topicName> - Name of the topic that the sensor message will be published on <setPositionTopicName> - Name of the topic that is used to set the position of the simulated pinger sensor. <position> - Position of the simulated pinger. Defaults to origin. <updateRate> - Rate of simulated sensor messages. <rangeNoise> - Noise model for the range to the simulated pinger. <bearingNoise> - Noise model for the bearing to the simulated pinger. <elevationNoise> - Noise model for the elevation to the simulated pinger.

Definition at line 56 of file acoustic_pinger_plugin.hh.

Constructor & Destructor Documentation

AcousticPinger::AcousticPinger ( )

Constructor.

Definition at line 57 of file acoustic_pinger_plugin.cc.

AcousticPinger::~AcousticPinger ( )

virtual

Destructor.

Definition at line 62 of file acoustic_pinger_plugin.cc.

Member Function Documentation

void AcousticPinger::Load	(	physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf
	)

Definition at line 67 of file acoustic_pinger_plugin.cc.

void AcousticPinger::PingerPositionCallback ( const geometry_msgs::Vector3ConstPtr & _pos )

Callback function called when receiving a new pinger position via the pinger subscription callback.

Parameters

[in] _pos New pinger position.

Definition at line 307 of file acoustic_pinger_plugin.cc.

void AcousticPinger::Update ( )

protectedvirtual

Callback used by gazebo to update the plugin.

Definition at line 232 of file acoustic_pinger_plugin.cc.

Member Data Documentation

gazebo::sensors::NoisePtr gazebo::AcousticPinger::bearingNoise = nullptr

private

Gazebo noise object for bearing angle.

Definition at line 115 of file acoustic_pinger_plugin.hh.

gazebo::sensors::NoisePtr gazebo::AcousticPinger::elevationNoise = nullptr

private

Gazebo noise object for elevation angle.

Definition at line 118 of file acoustic_pinger_plugin.hh.

std::string gazebo::AcousticPinger::frameId

private

String holding the frame id of the sensor.

Definition at line 98 of file acoustic_pinger_plugin.hh.

common::Time gazebo::AcousticPinger::lastUpdateTime

private

Variable used to track time of last update. This is used to produce data at the correct rate.

Definition at line 105 of file acoustic_pinger_plugin.hh.

physics::ModelPtr gazebo::AcousticPinger::model

private

Pointer to model object.

Definition at line 91 of file acoustic_pinger_plugin.hh.

std::mutex gazebo::AcousticPinger::mutex

Mutex to protect the position vector.

Definition at line 88 of file acoustic_pinger_plugin.hh.

ignition::math::Vector3d gazebo::AcousticPinger::position

private

Vector storing the position of the pinger.

Definition at line 94 of file acoustic_pinger_plugin.hh.

ros::Publisher gazebo::AcousticPinger::rangeBearingPub

private

Publisher used to send sensor messages generated by the plugin.

Definition at line 85 of file acoustic_pinger_plugin.hh.

gazebo::sensors::NoisePtr gazebo::AcousticPinger::rangeNoise = nullptr

private

rangeNoise - Gazebo noise object for range.

Definition at line 112 of file acoustic_pinger_plugin.hh.

std::unique_ptr<ros::NodeHandle> gazebo::AcousticPinger::rosNodeHandle

private

Nodehandle used to integrate with the ROS system.

Definition at line 79 of file acoustic_pinger_plugin.hh.

ros::Subscriber gazebo::AcousticPinger::setPositionSub

Subscribes to the topic that set the pinger position.

Definition at line 82 of file acoustic_pinger_plugin.hh.

event::ConnectionPtr gazebo::AcousticPinger::updateConnection

private

Pointer used to connect gazebo callback to plugins update function.

Definition at line 108 of file acoustic_pinger_plugin.hh.

float gazebo::AcousticPinger::updateRate

private

Sensor update rate.

Definition at line 101 of file acoustic_pinger_plugin.hh.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation